摘要
通过对稳定平台位置跟踪回路的时滞特性分析,提出了一种基于自适应灰色预测控制的复合控制方法(CAGPC),从而提高稳定平台伺服系统的响应和干扰的抑制。首先针对常规固定步长灰色预测和预测模型存在预测误差的弊端,提出了一种同时调节预测步长和综合误差权值的自适应调节模块,依据控制系统实际误差和预测误差,同时调节灰色预测步长和预测误差的权值,来提高预测模型的适应性与系统的控制精度;其次针对外界干扰引入前馈补偿控制器对扰动进行抑制来改善稳定平台伺服系统的干扰抑制;最后通过数值仿真和稳定平台实验验证表明,基于自适应灰色预测控制的复合控制方法提高了稳定平台伺服系统的响应和干扰抑制能力。
Through time-delay characteristics analysis of a stabilized platform's position tracking loop,a compound control method based on adaptive grey prediction control(AGPC)was proposed to improve the system response and disturbance suppression of the stabilized platform servo system.Firstly,aiming at disadvantages of conventional fixed step size of grey prediction and the prediction error of forecast model,an adaptive adjustment module adjusting the prediction step and comprehensive error weights at the same time was proposed.According to the actual control system error and the prediction error,the grey prediction step and the prediction error weights were adjusted to improve the control precision and the adaptability of the system prediction model.Secondly,aiming at external disturbances,a feedforward compensation controller was introduced to improve the disturbance suppression of the stabilized platform servo system.At last,numerical simulation results and the stabilized platform tests showed that the compound control method based on adaptive grey prediction control can improve the stabilized platform servo system response and its ability of suppressing external disturbances.
出处
《振动与冲击》
EI
CSCD
北大核心
2016年第11期123-129,共7页
Journal of Vibration and Shock
基金
国家高技术研究发展计划(863计划)(2012AA061101)
高维信息智能感知与系统教育部重点实验室(南京理工大学)开放基金(3092013012205)
高等学校博士学科点专项科研基金(20133219110027)资助课题
关键词
灰色预测控制
自适应调节模块
复合控制
稳定平台
grey prediction control
adaptive adjustment module
compound control
stabilized platform
